#include<iostream>
#include"std_msgs/Float32.h"
#include"test_sensor/sensor2d.h"
using namespace std;
struct meas_re
{
    float time;
    float r;
    float theta;
    float pos_x;
    float pos_y;
};

class FusionCenter_KF
{
    public:
        test_sensor::sensor2d  z;
        void Print_z();
        void chatterCallback(const test_sensor::sensor2d::ConstPtr& msg);
};

void FusionCenter_KF::Print_z()
{
        cout<<z.time<<endl;
        cout<<z.pos_x<<endl;
        cout<<z.pos_y<<endl;
        cout<<z.r<<endl;
        cout<<z.theta<<endl;
}
void FusionCenter_KF::chatterCallback(const test_sensor::sensor2d::ConstPtr& msg)
{
        z.time=msg->time;
        z.pos_x=msg->pos_x;
        z.pos_y=msg->pos_y;
        z.r=msg->r;
        z.theta=msg->theta;
}
